Study on Visual Localization Method of Vent-pipe
This paper proposes an algorithm to measure the ventpipe position of exposed straight pipe vehicles on the basis of 3D reconstruction with binocular vision system.Firstly,the measuring principle and mathematical model of binocular stereo vision systems were illustrated.Then,the method of camera calibration was discussed.In the end,the 3D appearance of automobile tail is reconstructed based on the binocular stereo vision technology.And meanwhile,the 3D coordinates of vent-pipe is calculated through the features of images and 3D geometrical characteristics of exposed straight ventpipe.The experiment results show that this method presented can realize the automatic detecting and positioning of vent-pipe.The localization error can meet the demands of actual application.
Binocular Vision Visual Localization Venl-pipe
Fan Zhang Zhongren Wang
School of Mechanical and Automotive Engineering Xiangfan University Xiangfan,P.R.China
国际会议
太原
英文
179-182
2011-02-26（万方平台首次上网日期，不代表论文的发表时间）